An EMG-based robot control scheme robust to time-varying EMG signal features

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limbmotion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.

Original languageEnglish (US)
Article number5415540
Pages (from-to)582-588
Number of pages7
JournalIEEE Transactions on Information Technology in Biomedicine
Issue number3
StatePublished - May 2010


  • Electromyographic (EMG) control
  • Muscle fatigue
  • Neurorobotics

ASJC Scopus subject areas

  • Biotechnology
  • Computer Science Applications
  • Electrical and Electronic Engineering


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